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9. Setting of Analogue Parameters
Initial settings :-
1. Enter Encoder Resolution in R57 (max 10000 ppr)
2. Set Edge Multiplier in R56
3. Set the desired speed in R50 (for programme and single)
and R60-63 (for Hand) – max 10000 rpm.
The product of Encoder Resolution and rpm should not exceed the maximum input
frequency of the controller.
E.g. Resolution i = 1000 ppr
Max input freq. = 10000 Hz
Therefore rpm = f.max x 60
= 10000 Hz x 60 = 600 rpm
i 1000
4. Set the acceleration revs/sec2 in R57
E.g. Velocity v = 3000 rpm
Time t = 5 sec
Accel a = v
= 3000 rpm / 60 = 10 revolutions/sec2
t 5 sec
5. Set the Registers R52,53,54,55 to 1
6. Now position to a large Target value
7. Adjust the value of the P Term (R52) till the required top speed is achieved during the
Move and the Axis positions without overshoot.
8. Should the demanded position not be quite reached, adjust the I Term (R53) until it
can do so.
NB: R55 (I Limit) must be at least as high a value as R53.
9. If the Axis overshoots, slightly reduce R55, but no lower than R53
10. If the system begins to oscillate (i.e. a too large a value of I term), then this can
be eliminated by adding some small value of D Term (R54) to compensate.
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